diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index cd76941d..510f68ab 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -177,20 +177,26 @@ void vApplicationIdleHook(void) {
     if (odrv.system_stats_.fully_booted) {
         odrv.system_stats_.uptime = xTaskGetTickCount();
         odrv.system_stats_.min_heap_space = xPortGetMinimumEverFreeHeapSize();
+
         uint32_t min_stack_space[AXIS_COUNT];
         std::transform(axes.begin(), axes.end(), std::begin(min_stack_space), [](auto& axis) { return uxTaskGetStackHighWaterMark(axis.thread_id_) * sizeof(StackType_t); });
-        odrv.system_stats_.min_stack_space_axis = *std::min_element(std::begin(min_stack_space), std::end(min_stack_space));
-        odrv.system_stats_.min_stack_space_usb = uxTaskGetStackHighWaterMark(usb_thread) * sizeof(StackType_t);
-        odrv.system_stats_.min_stack_space_uart = uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
-        odrv.system_stats_.min_stack_space_startup = uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
-        odrv.system_stats_.min_stack_space_can = uxTaskGetStackHighWaterMark(odCAN->thread_id_) * sizeof(StackType_t);
+        odrv.system_stats_.max_stack_usage_axis = axes[0].stack_size_ - *std::min_element(std::begin(min_stack_space), std::end(min_stack_space));
+        odrv.system_stats_.max_stack_usage_usb = stack_size_usb_thread - uxTaskGetStackHighWaterMark(usb_thread) * sizeof(StackType_t);
+        odrv.system_stats_.max_stack_usage_uart = stack_size_uart_thread - uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
+        odrv.system_stats_.max_stack_usage_startup = stack_size_default_task - uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
+        odrv.system_stats_.max_stack_usage_can = odCAN->stack_size_ - uxTaskGetStackHighWaterMark(odCAN->thread_id_) * sizeof(StackType_t);
 
-        // Actual usage, in bytes, so we don't have to math
-        odrv.system_stats_.stack_usage_axis = axes[0].stack_size_ - odrv.system_stats_.min_stack_space_axis;
-        odrv.system_stats_.stack_usage_usb = stack_size_usb_thread - odrv.system_stats_.min_stack_space_usb;
-        odrv.system_stats_.stack_usage_uart = stack_size_uart_thread - odrv.system_stats_.min_stack_space_uart;
-        odrv.system_stats_.stack_usage_startup = stack_size_default_task - odrv.system_stats_.min_stack_space_startup;
-        odrv.system_stats_.stack_usage_can = odCAN->stack_size_ - odrv.system_stats_.min_stack_space_can;
+        odrv.system_stats_.stack_size_axis = axes[0].stack_size_;
+        odrv.system_stats_.stack_size_usb = stack_size_usb_thread;
+        odrv.system_stats_.stack_size_uart = stack_size_uart_thread;
+        odrv.system_stats_.stack_size_startup = stack_size_default_task;
+        odrv.system_stats_.stack_size_can = odCAN->stack_size_;
+
+        odrv.system_stats_.prio_axis = osThreadGetPriority(axes[0].thread_id_);
+        odrv.system_stats_.prio_usb = osThreadGetPriority(usb_thread);
+        odrv.system_stats_.prio_uart = osThreadGetPriority(uart_thread);
+        odrv.system_stats_.prio_startup = osThreadGetPriority(defaultTaskHandle);
+        odrv.system_stats_.prio_can = osThreadGetPriority(odCAN->thread_id_);
     }
 }
 
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index 694f682d..57535b00 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -29,17 +29,23 @@ typedef struct {
     bool fully_booted;
     uint32_t uptime; // [ms]
     uint32_t min_heap_space; // FreeRTOS heap [Bytes]
-    uint32_t min_stack_space_axis; // minimum remaining space since startup [Bytes]
-    uint32_t min_stack_space_usb;
-    uint32_t min_stack_space_uart;
-    uint32_t min_stack_space_startup;
-    uint32_t min_stack_space_can;
+    uint32_t max_stack_usage_axis; // minimum remaining space since startup [Bytes]
+    uint32_t max_stack_usage_usb;
+    uint32_t max_stack_usage_uart;
+    uint32_t max_stack_usage_startup;
+    uint32_t max_stack_usage_can;
 
-    uint32_t stack_usage_axis;
-    uint32_t stack_usage_usb;
-    uint32_t stack_usage_uart;
-    uint32_t stack_usage_startup;
-    uint32_t stack_usage_can;
+    uint32_t stack_size_axis;
+    uint32_t stack_size_usb;
+    uint32_t stack_size_uart;
+    uint32_t stack_size_startup;
+    uint32_t stack_size_can;
+
+    int32_t prio_axis;
+    int32_t prio_usb;
+    int32_t prio_uart;
+    int32_t prio_startup;
+    int32_t prio_can;
 
     USBStats_t& usb = usb_stats_;
     I2CStats_t& i2c = i2c_stats_;
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 8dfde3e8..fd0ddf56 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -126,16 +126,21 @@ interfaces:
         attributes:
           uptime: readonly uint32
           min_heap_space: readonly uint32
-          min_stack_space_axis: readonly uint32
-          min_stack_space_usb: readonly uint32
-          min_stack_space_uart: readonly uint32
-          min_stack_space_can: readonly uint32
-          min_stack_space_startup: readonly uint32
-          stack_usage_axis: readonly uint32
-          stack_usage_usb: readonly uint32
-          stack_usage_uart: readonly uint32
-          stack_usage_startup: readonly uint32
-          stack_usage_can: readonly uint32
+          max_stack_usage_axis: readonly uint32
+          max_stack_usage_usb: readonly uint32
+          max_stack_usage_uart: readonly uint32
+          max_stack_usage_can: readonly uint32
+          max_stack_usage_startup: readonly uint32
+          stack_size_axis: readonly uint32
+          stack_size_usb: readonly uint32
+          stack_size_uart: readonly uint32
+          stack_size_startup: readonly uint32
+          stack_size_can: readonly uint32
+          prio_axis: readonly int32
+          prio_usb: readonly int32
+          prio_uart: readonly int32
+          prio_startup: readonly int32
+          prio_can: readonly int32
           usb:
             c_is_class: False
             attributes:
diff --git a/docs/resources.md b/docs/resources.md
index dac2e0c7..bb35ff4b 100644
--- a/docs/resources.md
+++ b/docs/resources.md
@@ -1,5 +1,5 @@
 
-Most information in this file can be reproduced by running `dump_interrupts(odrv0)` and `dump_dma(odrv0)` in `odrivetool`.
+Most information in this file can be reproduced by running `dump_interrupts(odrv0)`, `dump_dma(odrv0)` and `dump_threads(odrv0)` in `odrivetool` (minor manual postprocessing was applied to the output of those functions).
 
 Take this info with a grain of salt as we might forget to update it from time to time. When in doubt check the file history.
 
@@ -55,3 +55,18 @@ Take this info with a grain of salt as we might forget to update it from time to
 | DMA1_Stream5 |    2 | 0 (SPI3_TX)                      | SPI             |
 | DMA2_Stream0 |    0 | 0 (ADC1)                         | freerunning ADC |
 
+
+## Threads
+
+ - lowest priority: -3
+ - highest priority: 3
+
+| Name    | Stack Size [B] | Prio |
+|---------|----------------|------|
+| axis0   |           2048 |    3 |
+| axis1   |           2048 |    2 |
+| can     |           1024 |    0 |
+| startup |           2048 |    0 |
+| uart    |           4096 |    0 |
+| usb     |           4096 |    0 |
+
diff --git a/tools/odrive/shell.py b/tools/odrive/shell.py
index e6fcb072..8f3274ea 100644
--- a/tools/odrive/shell.py
+++ b/tools/odrive/shell.py
@@ -86,6 +86,7 @@ def launch_shell(args, logger, app_shutdown_token):
         'dump_errors': dump_errors,
         'oscilloscope_dump': oscilloscope_dump,
         'dump_interrupts': dump_interrupts,
+        'dump_threads': dump_threads,
         'dump_dma': dump_dma,
         'dump_timing': dump_timing,
         'BulkCapture': BulkCapture,
diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index 1f211e75..b9fc8e9b 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -487,6 +487,25 @@ def dump_interrupts(odrv):
                     " *" if (status & 0x80000000) else "  ",
                     str((status >> 8) & 0x7fffff).rjust(7)))
 
+def dump_threads(odrv):
+    prefixes = ["max_stack_usage_", "stack_size_", "prio_"]
+    keys = [k[len(prefix):] for k in dir(odrv.system_stats) for prefix in prefixes if k.startswith(prefix)]
+    good_keys = set([k for k in set(keys) if keys.count(k) == len(prefixes)])
+    if len(good_keys) > len(set(keys)):
+        print("Warning: incomplete thread information for threads {}".format(set(keys) - good_keys))
+
+    print("| Name    | Stack Size [B] | Max Ever Stack Usage [B] | Prio |")
+    print("|---------|----------------|--------------------------|------|")
+    for k in sorted(good_keys):
+        sz = getattr(odrv.system_stats, "stack_size_" + k)
+        use = getattr(odrv.system_stats, "max_stack_usage_" + k)
+        print("| {} | {} | {} | {} |".format(
+            k.ljust(7),
+            str(sz).rjust(14),
+            "{} ({:.1f}%)".format(use, use / sz * 100).rjust(24),
+            str(getattr(odrv.system_stats, "prio_" + k)).rjust(4)
+        ))
+
 
 def dump_dma(odrv):
     if odrv.hw_version_major == 3: